Any object that you want users to be able to access via URI and perform CRUD (or some subset thereof) operations on can be thought of as a resource. In the Rails sense, it is generally a database table which is represented by a model, and acted on through a controller.
For example, you might have a User resource (with a users table in your DB). This is represented by a User model, is mapped to users_controller with map.resources :users (which then generates routes like /users (a collection of User resources) and /users/1 (a specific User resource).
You act upon those resources by using the appropriate HTTP method when making calls to those resources. POST to the resource collection (/users) creates a new record; GET retrieves a list of resources (/users) or a specific user (/users/1). PUT updates a specific user (/users/1/), and DELETE destroys that user. The URLs are the same, but the result (and controller action) may be different based on the HTTP verb. The idea, though is that /users/1 always means “I’m interacting with the User that has ID #1”, regardless of the action.